Haptic Interface for Simulator, Such as a Colonoscopy Simulator

Abstract

A device for endoscopic simulation includes an endoscopic interface with a guiding tube for guiding an endoscope. The tube is mounted on bearings for free rotation and includes windows for allowing a contact between the endoscope and friction rollers for tracking axial displacement of the endoscope and for imposing a linear force feedback on the endoscope. One friction roller is connected to a motor for transmission of torque generated by the motor. Another friction roller is connected to an encoder for tracking its axial displacement. The device further includes an axial brake for blocking axial movement of the endoscope while allowing rotation of the endoscope. The axial brake includes two pairs of brake rollers placed around the endoscope. One pair of brake rollers is movable relatively to another pair for realizing the axial blocking. One friction roller is mounted on the tube via a lever actuated by spring means for allowing smooth insertion of endoscopes having different sizes and ensuring sufficient contact force on the endoscope of the brake rollers.

Description

FIELD OF THE INVENTION[0001]The present invention concerns interfaces using simulators for training of surgical procedure and more particularly to a haptic interface for a colonoscopy simulator.BACKGROUND ART[0002]Colonoscopy is a minimally invasive surgery procedure where the colon of a patient is examined with an endoscope. The instrument is called a colonoscope which is a long flexible tube with an integrated imaging device at its tip. The colonoscope allows physicians to treat lesions while visualizing the colon. Due to difficult hand-eye coordination, complicated guidance of the flexible endoscope and the risk of colon injury, these techniques need to be performed by highly trained end experienced physicians. The importance of training colonoscopy procedures rises with the growth of variety of colon diseases and growing need to screen as a preventative measure.[0003]Some training for colonoscopy is performed on real patients once the physician has passed his / her novice level. T...

AI Technical Summary

Benefits of technology

[0023]A further aim of the present invention is to propose a simulation device that is more accurate and that allows a better training of users.

[0026]An idea of the present invention is to provide a haptic interface that acquires position of an endoscope (for ex. colonoscope) and provides force feedback at least in axial and rotational directions. Combined electrical motors and passive brakes are used to cover a large range of forces. DC motors are used to simulate the friction of the endoscope when inserting through the natural orifices (for ex. colon). A power brake and a mechanical brake are used if respectively torques or forces applied on the endoscope are too strong to be maintained by the motors. The haptic interface provides high translational force and rotational torque. This design allows motion in one direction while impeding the other. The interface has an unlimited workspace. Endoscopes of different sizes can be inserted and removed.

[0030]A surgical simulation device acquires position of an endoscope (for ex. colonoscope) and provides force feedback in axial and rotational directions. FIG. 1 shows an example of such a device and components. As mentioned previously, combined electrical motors and passive brakes are used to cover a large range of forces. Electrical motors are used to simulate the friction of the endoscope when inserting through the natural orifices (for ex. colon). A powder brake and a mechanical brake are used if respectively torques or forces applied on the endoscope are too strong to be maintained by the motors. A brake release system is employed without additional costly hardware. This novel design allows motion in one direction while impeding the other. The interface has an unlimited workspace. Endoscopes of different sizes can be inserted and removed while providing sufficient contact force for high translational force and rotational torque feedback. This novel design of the endoscopic interface allows tracking of independent axial and rotational motion of different size endoscopic devices and providing force feedback.

Problems solved by technology

Due to difficult hand-eye coordination, complicated guidance of the flexible endoscope and the risk of colon injury, these techniques need to be performed by highly trained end experienced physicians.

This increases the risk to the patient and lengthens the procedure time.

Forces and torques felt during such a procedure are also high.

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